Force-reflecting bilateral teleoperation with time delay by signal filtering

This paper presents a force-reflecting teleoperation scheme with time delay. Considering reciprocal systems, the necessary and sufficient condition of the stability of the proposed type and several conventional types are analytically investigated. It is shown that the stability is not guaranteed under force feedback for a time-delayed system unless the ideal response is strictly realized, although wave transmission is applied. This problem is solved by signal filtering. The validity of the proposed type is confirmed by experiments in contacting a solid wall.